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Use the new declare_or_get_parameter API for nav2_regulated_pure_pursuit_controller #5744

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df791eb
synk fork and retry test
song6-1 Nov 30, 2025
b1b9172
ci: retry tests
song6-1 Nov 30, 2025
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201 changes: 65 additions & 136 deletions nav2_regulated_pure_pursuit_controller/src/parameter_handler.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -24,7 +24,6 @@
namespace nav2_regulated_pure_pursuit_controller
{

using nav2::declare_parameter_if_not_declared;
using rcl_interfaces::msg::ParameterType;

ParameterHandler::ParameterHandler(
Expand All @@ -35,160 +34,90 @@ ParameterHandler::ParameterHandler(
{
plugin_name_ = plugin_name;

declare_parameter_if_not_declared(
node, plugin_name_ + ".desired_linear_vel", rclcpp::ParameterValue(0.5));
declare_parameter_if_not_declared(
node, plugin_name_ + ".lookahead_dist", rclcpp::ParameterValue(0.6));
declare_parameter_if_not_declared(
node, plugin_name_ + ".min_lookahead_dist", rclcpp::ParameterValue(0.3));
declare_parameter_if_not_declared(
node, plugin_name_ + ".max_lookahead_dist", rclcpp::ParameterValue(0.9));
declare_parameter_if_not_declared(
node, plugin_name_ + ".lookahead_time", rclcpp::ParameterValue(1.5));
declare_parameter_if_not_declared(
node, plugin_name_ + ".rotate_to_heading_angular_vel", rclcpp::ParameterValue(1.8));
declare_parameter_if_not_declared(
node, plugin_name_ + ".transform_tolerance", rclcpp::ParameterValue(0.1));
declare_parameter_if_not_declared(
node, plugin_name_ + ".use_velocity_scaled_lookahead_dist",
rclcpp::ParameterValue(false));
declare_parameter_if_not_declared(
node, plugin_name_ + ".min_approach_linear_velocity", rclcpp::ParameterValue(0.05));
declare_parameter_if_not_declared(
node, plugin_name_ + ".approach_velocity_scaling_dist",
rclcpp::ParameterValue(0.6));
declare_parameter_if_not_declared(
node, plugin_name_ + ".max_allowed_time_to_collision_up_to_carrot",
rclcpp::ParameterValue(1.0));
declare_parameter_if_not_declared(
node, plugin_name_ + ".min_distance_to_obstacle",
rclcpp::ParameterValue(-1.0));
declare_parameter_if_not_declared(
node, plugin_name_ + ".use_regulated_linear_velocity_scaling", rclcpp::ParameterValue(true));
declare_parameter_if_not_declared(
node, plugin_name_ + ".use_cost_regulated_linear_velocity_scaling",
rclcpp::ParameterValue(true));
declare_parameter_if_not_declared(
node, plugin_name_ + ".cost_scaling_dist", rclcpp::ParameterValue(0.6));
declare_parameter_if_not_declared(
node, plugin_name_ + ".cost_scaling_gain", rclcpp::ParameterValue(1.0));
declare_parameter_if_not_declared(
node, plugin_name_ + ".inflation_cost_scaling_factor", rclcpp::ParameterValue(3.0));
declare_parameter_if_not_declared(
node, plugin_name_ + ".regulated_linear_scaling_min_radius", rclcpp::ParameterValue(0.90));
declare_parameter_if_not_declared(
node, plugin_name_ + ".regulated_linear_scaling_min_speed", rclcpp::ParameterValue(0.25));
declare_parameter_if_not_declared(
node, plugin_name_ + ".use_fixed_curvature_lookahead", rclcpp::ParameterValue(false));
declare_parameter_if_not_declared(
node, plugin_name_ + ".curvature_lookahead_dist", rclcpp::ParameterValue(0.6));
declare_parameter_if_not_declared(
node, plugin_name_ + ".use_rotate_to_heading", rclcpp::ParameterValue(true));
declare_parameter_if_not_declared(
node, plugin_name_ + ".rotate_to_heading_min_angle", rclcpp::ParameterValue(0.785));
declare_parameter_if_not_declared(
node, plugin_name_ + ".max_angular_accel", rclcpp::ParameterValue(3.2));
declare_parameter_if_not_declared(
node, plugin_name_ + ".use_cancel_deceleration", rclcpp::ParameterValue(false));
declare_parameter_if_not_declared(
node, plugin_name_ + ".cancel_deceleration", rclcpp::ParameterValue(3.2));
declare_parameter_if_not_declared(
node, plugin_name_ + ".allow_reversing", rclcpp::ParameterValue(false));
declare_parameter_if_not_declared(
node, plugin_name_ + ".max_robot_pose_search_dist",
rclcpp::ParameterValue(costmap_size_x / 2.0));
declare_parameter_if_not_declared(
node, plugin_name_ + ".interpolate_curvature_after_goal",
rclcpp::ParameterValue(false));
declare_parameter_if_not_declared(
node, plugin_name_ + ".use_collision_detection",
rclcpp::ParameterValue(true));
declare_parameter_if_not_declared(
node, plugin_name_ + ".stateful", rclcpp::ParameterValue(true));

node->get_parameter(plugin_name_ + ".desired_linear_vel", params_.desired_linear_vel);
params_.desired_linear_vel =
node->declare_or_get_parameter(plugin_name_ + ".desired_linear_vel", 0.5);
params_.base_desired_linear_vel = params_.desired_linear_vel;
node->get_parameter(plugin_name_ + ".lookahead_dist", params_.lookahead_dist);
node->get_parameter(plugin_name_ + ".min_lookahead_dist", params_.min_lookahead_dist);
node->get_parameter(plugin_name_ + ".max_lookahead_dist", params_.max_lookahead_dist);
node->get_parameter(plugin_name_ + ".lookahead_time", params_.lookahead_time);
node->get_parameter(
plugin_name_ + ".rotate_to_heading_angular_vel",
params_.rotate_to_heading_angular_vel);
node->get_parameter(plugin_name_ + ".transform_tolerance", params_.transform_tolerance);
node->get_parameter(
plugin_name_ + ".use_velocity_scaled_lookahead_dist",
params_.use_velocity_scaled_lookahead_dist);
node->get_parameter(
plugin_name_ + ".min_approach_linear_velocity",
params_.min_approach_linear_velocity);
node->get_parameter(
plugin_name_ + ".approach_velocity_scaling_dist",
params_.approach_velocity_scaling_dist);
params_.lookahead_dist =
node->declare_or_get_parameter(plugin_name_ + ".lookahead_dist", 0.6);
params_.min_lookahead_dist =
node->declare_or_get_parameter(plugin_name_ + ".min_lookahead_dist", 0.3);
params_.max_lookahead_dist =
node->declare_or_get_parameter(plugin_name_ + ".max_lookahead_dist", 0.9);
params_.lookahead_time =
node->declare_or_get_parameter(plugin_name_ + ".lookahead_time", 1.5);
params_.rotate_to_heading_angular_vel = node->declare_or_get_parameter(
plugin_name_ + ".rotate_to_heading_angular_vel", 1.8);
params_.transform_tolerance = node->declare_or_get_parameter(
plugin_name_ + ".transform_tolerance", 0.1);
params_.use_velocity_scaled_lookahead_dist = node->declare_or_get_parameter(
plugin_name_ + ".use_velocity_scaled_lookahead_dist", false);
params_.min_approach_linear_velocity = node->declare_or_get_parameter(
plugin_name_ + ".min_approach_linear_velocity", 0.05);
params_.approach_velocity_scaling_dist = node->declare_or_get_parameter(
plugin_name_ + ".approach_velocity_scaling_dist", 0.6);
if (params_.approach_velocity_scaling_dist > costmap_size_x / 2.0) {
RCLCPP_WARN(
logger_, "approach_velocity_scaling_dist is larger than forward costmap extent, "
"leading to permanent slowdown");
}
node->get_parameter(
plugin_name_ + ".max_allowed_time_to_collision_up_to_carrot",
params_.max_allowed_time_to_collision_up_to_carrot);
node->get_parameter(
plugin_name_ + ".min_distance_to_obstacle",
params_.min_distance_to_obstacle);
node->get_parameter(
plugin_name_ + ".use_regulated_linear_velocity_scaling",
params_.use_regulated_linear_velocity_scaling);
node->get_parameter(
plugin_name_ + ".use_cost_regulated_linear_velocity_scaling",
params_.use_cost_regulated_linear_velocity_scaling);
node->get_parameter(plugin_name_ + ".cost_scaling_dist", params_.cost_scaling_dist);
node->get_parameter(plugin_name_ + ".cost_scaling_gain", params_.cost_scaling_gain);
node->get_parameter(
plugin_name_ + ".inflation_cost_scaling_factor",
params_.inflation_cost_scaling_factor);
node->get_parameter(
plugin_name_ + ".regulated_linear_scaling_min_radius",
params_.regulated_linear_scaling_min_radius);
node->get_parameter(
plugin_name_ + ".regulated_linear_scaling_min_speed",
params_.regulated_linear_scaling_min_speed);
node->get_parameter(
plugin_name_ + ".use_fixed_curvature_lookahead",
params_.use_fixed_curvature_lookahead);
node->get_parameter(
plugin_name_ + ".curvature_lookahead_dist",
params_.curvature_lookahead_dist);
node->get_parameter(plugin_name_ + ".use_rotate_to_heading", params_.use_rotate_to_heading);
node->get_parameter(
plugin_name_ + ".rotate_to_heading_min_angle", params_.rotate_to_heading_min_angle);
node->get_parameter(plugin_name_ + ".max_angular_accel", params_.max_angular_accel);
node->get_parameter(plugin_name_ + ".use_cancel_deceleration", params_.use_cancel_deceleration);
node->get_parameter(plugin_name_ + ".cancel_deceleration", params_.cancel_deceleration);
node->get_parameter(plugin_name_ + ".allow_reversing", params_.allow_reversing);
node->get_parameter(
plugin_name_ + ".max_robot_pose_search_dist",
params_.max_robot_pose_search_dist);
params_.max_allowed_time_to_collision_up_to_carrot =
node->declare_or_get_parameter(
plugin_name_ + ".max_allowed_time_to_collision_up_to_carrot", 1.0);
params_.min_distance_to_obstacle = node->declare_or_get_parameter(
plugin_name_ + ".min_distance_to_obstacle", -1.0);
params_.use_regulated_linear_velocity_scaling =
node->declare_or_get_parameter(
plugin_name_ + ".use_regulated_linear_velocity_scaling", true);
params_.use_cost_regulated_linear_velocity_scaling =
node->declare_or_get_parameter(
plugin_name_ + ".use_cost_regulated_linear_velocity_scaling", true);
params_.cost_scaling_dist =
node->declare_or_get_parameter(plugin_name_ + ".cost_scaling_dist", 0.6);
params_.cost_scaling_gain =
node->declare_or_get_parameter(plugin_name_ + ".cost_scaling_gain", 1.0);
params_.inflation_cost_scaling_factor = node->declare_or_get_parameter(
plugin_name_ + ".inflation_cost_scaling_factor", 3.0);
params_.regulated_linear_scaling_min_radius = node->declare_or_get_parameter(
plugin_name_ + ".regulated_linear_scaling_min_radius", 0.90);
params_.regulated_linear_scaling_min_speed = node->declare_or_get_parameter(
plugin_name_ + ".regulated_linear_scaling_min_speed", 0.25);
params_.use_fixed_curvature_lookahead = node->declare_or_get_parameter(
plugin_name_ + ".use_fixed_curvature_lookahead", false);
params_.curvature_lookahead_dist = node->declare_or_get_parameter(
plugin_name_ + ".curvature_lookahead_dist", 0.6);
params_.use_rotate_to_heading = node->declare_or_get_parameter(
plugin_name_ + ".use_rotate_to_heading", true);
params_.rotate_to_heading_min_angle = node->declare_or_get_parameter(
plugin_name_ + ".rotate_to_heading_min_angle", 0.785);
params_.max_angular_accel =
node->declare_or_get_parameter(plugin_name_ + ".max_angular_accel", 3.2);
params_.use_cancel_deceleration = node->declare_or_get_parameter(
plugin_name_ + ".use_cancel_deceleration", false);
params_.cancel_deceleration = node->declare_or_get_parameter(
plugin_name_ + ".cancel_deceleration", 3.2);
params_.allow_reversing =
node->declare_or_get_parameter(plugin_name_ + ".allow_reversing", false);
params_.max_robot_pose_search_dist = node->declare_or_get_parameter(
plugin_name_ + ".max_robot_pose_search_dist", costmap_size_x / 2.0);
if (params_.max_robot_pose_search_dist < 0.0) {
RCLCPP_WARN(
logger_, "Max robot search distance is negative, setting to max to search"
" every point on path for the closest value.");
params_.max_robot_pose_search_dist = std::numeric_limits<double>::max();
}

node->get_parameter(
plugin_name_ + ".interpolate_curvature_after_goal",
params_.interpolate_curvature_after_goal);
params_.interpolate_curvature_after_goal = node->declare_or_get_parameter(
plugin_name_ + ".interpolate_curvature_after_goal", false);
if (!params_.use_fixed_curvature_lookahead && params_.interpolate_curvature_after_goal) {
RCLCPP_WARN(
logger_, "For interpolate_curvature_after_goal to be set to true, "
"use_fixed_curvature_lookahead should be true, it is currently set to false. Disabling.");
params_.interpolate_curvature_after_goal = false;
}
node->get_parameter(
plugin_name_ + ".use_collision_detection",
params_.use_collision_detection);
node->get_parameter(plugin_name_ + ".stateful", params_.stateful);
params_.use_collision_detection = node->declare_or_get_parameter(
plugin_name_ + ".use_collision_detection", true);
params_.stateful =
node->declare_or_get_parameter(plugin_name_ + ".stateful", true);

if (params_.inflation_cost_scaling_factor <= 0.0) {
RCLCPP_WARN(
Expand Down
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